#ifndef MPC_H
#define MPC_H

#include <vector>
#include "Eigen-3.3/Eigen/Core"

using namespace std;

class MPC {
 public:
   const double Lf = 2.67; // 轴距 wheel_base
   MPC();
   virtual ~MPC();
  // Solve the model given an initial state and polynomial coefficients
  // Return the first actuatotions
  vector<double> Solve(Eigen::VectorXd state, Eigen::VectorXd coeffs);
};

#endif
